Step # : 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 VisionD: A A A A A A A B B B B B A B A H H H A H A A A A B C C C C C B C B I I I B I B B B A H H H I H I H O Wheels: - - f f l l r - - f f l r l b - - f b f - f l r r - - f f l r l b - - f b f - f l b l l r l r l b - === 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD VD 1 1 1 1 1 1 1 15 15 15 15 15 1 15 1 30 30 30 1 30 1 1 1 1 15 46 46 46 46 46 15 46 15 60 60 60 15 60 15 15 15 1 30 30 30 60 30 60 30 85 P P E P E P E P P E P E E E E P P E E E E E PP PP PP P P E P E P E E P P E E E E PP PP PP PP P E P E E E P 1 1 4 1 7 1 11 15 15 18 15 21 11 16 11 30 30 33 7 31 7 4 8 12 25 46 46 49 46 52 15 47 55 60 60 63 21 61 21 19 22 27 37 30 75 60 75 78 75 85 A A A A A A A A A A A A A A A A A A A A A A A AA A A A A A A A A A A A A A A A A A A A A A A A A A A 2 3 5 6 9 10 13 2 17 5 20 9 14 23 28 2 32 5 29 35 3 6 10 24 13 2 48 5 51 9 45 54 28 2 62 5 59 65 17 20 23 29 9 74 13 9 77 79 28 2 Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh Wh 2 2 5 5 9 9 13 2 2 5 5 9 13 9 28 2 2 5 28 5 2 5 9 13 13 2 2 5 5 9 13 9 28 2 2 5 28 5 2 5 9 28 9 9 13 9 13 9 28 2 === 1, VD= VisionD 1 1 P ~ -1 ~ -1 65 5 3 - 0 0 A l-Ac29 A, l-Ac14 A, l-Ac10 A, l-Ac6 A, l-Ac3 A, r-Ac11 E, r-Ac7 E, r-Ac4 E 15 1 P ~ -1 ~ -1 66 5 4 - 0 0 B l-Ac23 A, l-Ac20 A, l-Ac17 A, l-Ac59 A, l-Ac45 A, r-Ac21 E, r-Ac18 E, r-Ac55 E, r-Ac16 E 30 1 P ~ -1 ~ -1 72 5 3 - 0 0 H lþAc84 A, l-Ac77 A, l-Ac74 A, l-Ac35 A, l-Ac32 A, r-Ac75 E, r-Ac31 E, r-Ac33 E 46 1 P ~ -1 ~ -1 67 3 3 - 0 0 C l-Ac54 A, l-Ac51 A, l-Ac48 A, r-Ac47 E, r-Ac52 E, r-Ac49 E 60 1 P ~ -1 ~ -1 73 3 3 - 0 0 I l-Ac79 A, l-Ac65 A, l-Ac62 A, r-Ac78 E, r-Ac61 E, r-Ac63 E 85 1 P ~ -1 ~ -1 79 1 1 - 0 0 O lþAc87 A, rþAc86 E 2, Ac= Action 3 2 A VD 1 Wh 2 0 1 1 - 1 1 A- lþAc41 PP, rþAc40 AA 4 2 E Wh 2 VD 1 0 1 1 - 1 1 -A lþAc42 AA, rþAc41 PP 6 2 A VD 1 Wh 5 0 1 1 - 1 1 Af l-Ac8 PP, rþAc42 AA 7 2 E Wh 5 VD 1 0 3 2 - 1 1 fA lþAc43 AA, lþAc40 AA, lþAc36 AA, r-Ac8 PP, rþAc39 PP 10 2 A VD 1 Wh 9 0 1 1 - 1 1 Al l-Ac12 PP, rþAc43 AA 11 2 E Wh 9 VD 1 0 2 2 - 1 1 lA lþAc73 AA, l-Ac24 AA, r-Ac27 PP, r-Ac12 PP 14 2 A VD 1 Wh 13 0 1 1 - 1 1 Ar l-Ac25 PP, r-Ac24 AA 16 2 E Wh 13 VD 15 0 1 1 - 1 1 rB lþAc26 AA, r-Ac25 PP 17 2 A VD 15 Wh 2 0 1 1 - 1 1 B- l-Ac19 PP, rþAc70 AA 18 2 E Wh 2 VD 15 0 1 1 - 1 1 -B lþAc71 AA, r-Ac19 PP 20 2 A VD 15 Wh 5 0 1 1 - 1 1 Bf l-Ac22 PP, rþAc71 AA 21 2 E Wh 5 VD 15 0 3 2 - 1 1 fB lþAc72 AA, lþAc70 AA, lþAc66 AA, r-Ac22 PP, rþAc69 PP 23 2 A VD 15 Wh 9 0 1 2 - 1 1 Bl l-Ac27 PP, rþAc72 AA, rþAc26 AA 29 2 A VD 1 Wh 28 0 1 2 - 1 1 Ab l-Ac37 PP, rþAc73 AA, rþAc36 AA 31 2 E Wh 28 VD 30 0 1 1 - 1 1 bH lþAc38 AA, r-Ac37 PP 32 2 A VD 30 Wh 2 0 1 0 - 1 1 H- lþAc34 PP, 33 2 E Wh 2 VD 30 0 0 1 - 1 1 -H rþAc34 PP 35 2 A VD 30 Wh 5 0 1 1 - 1 1 Hf lþAc39 PP, rþAc38 AA 45 2 A VD 15 Wh 13 0 1 0 - 1 1 Br lþAc56 PP, 47 2 E Wh 13 VD 46 0 1 1 - 1 1 rC lþAc57 AA, rþAc56 PP 48 2 A VD 46 Wh 2 0 1 0 - 1 1 C- lþAc50 PP, 49 2 E Wh 2 VD 46 0 0 1 - 1 1 -C rþAc50 PP 51 2 A VD 46 Wh 5 0 1 0 - 1 1 Cf lþAc53 PP, 52 2 E Wh 5 VD 46 0 0 1 - 1 1 fC rþAc53 PP 54 2 A VD 46 Wh 9 0 1 1 - 1 1 Cl lþAc58 PP, rþAc57 AA 55 2 E Wh 9 VD 15 0 0 1 - 1 1 lB rþAc58 PP 59 2 A VD 15 Wh 28 0 1 1 - 1 1 Bb lþAc67 PP, rþAc66 AA 61 2 E Wh 28 VD 60 0 1 1 - 1 1 bI lþAc68 AA, rþAc67 PP 62 2 A VD 60 Wh 2 0 1 0 - 1 1 I- lþAc64 PP, 63 2 E Wh 2 VD 60 0 0 1 - 1 1 -I rþAc64 PP 65 2 A VD 60 Wh 5 0 1 1 - 1 1 If lþAc69 PP, rþAc68 AA 74 2 A VD 30 Wh 9 0 1 0 - 1 1 Hl lþAc76 PP, 75 2 E Wh 9 VD 30 0 1 2 - 1 1 lH lþAc80 AA, rþAc83 PP, rþAc76 PP 77 2 A VD 30 Wh 13 0 1 1 - 1 1 Hr lþAc81 PP, rþAc80 AA 78 2 E Wh 13 VD 60 0 1 1 - 1 1 rI lþAc82 AA, rþAc81 PP 79 2 A VD 60 Wh 9 0 1 1 - 1 1 Il lþAc83 PP, rþAc82 AA 84 2 A VD 30 Wh 28 0 0 0 þ 1 1 Hb 86 2 E Wh 28 VD 85 0 0 0 þ 1 1 bO 87 2 A VD 85 Wh 2 0 0 0 þ 1 1 O- 8 3 PP Ac 6 Ac 7 0 0 0 - 1 1 AfA 12 3 PP Ac 10 Ac 11 0 1 0 - 1 1 AlA lþAc44 A, 19 3 PP Ac 17 Ac 18 0 0 0 - 1 1 B-B 22 3 PP Ac 20 Ac 21 0 0 0 - 1 1 BfB 24 3 AA Ac 11 Ac 14 0 0 1 - 1 1 lAr rþAc44 A 25 3 PP Ac 14 Ac 16 0 0 0 - 1 1 ArB 26 3 AA Ac 16 Ac 23 0 0 0 þ 1 1 rBl 27 3 PP Ac 23 Ac 11 0 0 0 - 1 1 BlA 34 3 PP Ac 32 Ac 33 0 0 0 þ 1 1 H-H 36 3 AA Ac 7 Ac 29 0 0 0 þ 1 1 fAb 37 3 PP Ac 29 Ac 31 0 0 0 - 1 1 AbH 38 3 AA Ac 31 Ac 35 0 0 0 þ 1 1 bHf 39 3 PP Ac 35 Ac 7 0 0 0 þ 1 1 HfA 40 3 AA Ac 7 Ac 3 0 0 0 þ 1 1 fA- 41 3 PP Ac 3 Ac 4 0 0 0 þ 1 1 A-A 42 3 AA Ac 4 Ac 6 0 0 0 þ 1 1 -Af 43 3 AA Ac 7 Ac 10 0 0 0 þ 1 1 fAl 50 3 PP Ac 48 Ac 49 0 0 0 þ 1 1 C-C 53 3 PP Ac 51 Ac 52 0 0 0 þ 1 1 CfC 56 3 PP Ac 45 Ac 47 0 0 0 þ 1 1 BrC 57 3 AA Ac 47 Ac 54 0 0 0 þ 1 1 rCl 58 3 PP Ac 54 Ac 55 0 0 0 þ 1 1 ClB 64 3 PP Ac 62 Ac 63 0 0 0 þ 1 1 I-I 66 3 AA Ac 21 Ac 59 0 0 0 þ 1 1 fBb 67 3 PP Ac 59 Ac 61 0 0 0 þ 1 1 BbI 68 3 AA Ac 61 Ac 65 0 0 0 þ 1 1 bIf 69 3 PP Ac 65 Ac 21 0 0 0 þ 1 1 IfB 70 3 AA Ac 21 Ac 17 0 0 0 þ 1 1 fB- 71 3 AA Ac 18 Ac 20 0 0 0 þ 1 1 -Bf 72 3 AA Ac 21 Ac 23 0 0 0 þ 1 1 fBl 73 3 AA Ac 11 Ac 29 0 0 0 þ 1 1 lAb 76 3 PP Ac 74 Ac 75 0 0 0 þ 1 1 HlH 80 3 AA Ac 75 Ac 77 0 0 0 þ 1 1 lHr 81 3 PP Ac 77 Ac 78 0 0 0 þ 1 1 HrI 82 3 AA Ac 78 Ac 79 0 0 0 þ 1 1 rIl 83 3 PP Ac 79 Ac 75 0 0 0 þ 1 1 IlH 44 4 A Ac 12 Ac 24 0 0 0 þ 1 1 AlAr 3, Wh= Wheels 2 1 A ~ -1 ~ -1 45 5 6 - 0 0 - l-Ac18 E, l-Ac63 E, l-Ac49 E, l-Ac4 E, l-Ac33 E, rþAc87 A, r-Ac17 A, r-Ac62 A, r-Ac48 A, r-Ac3 A, r-Ac32 A 5 1 A ~ -1 ~ -1 102 3 5 - 0 0 f l-Ac21 E, l-Ac52 E, l-Ac7 E, r-Ac20 A, r-Ac65 A, r-Ac51 A, r-Ac6 A, r-Ac35 A 9 1 A ~ -1 ~ -1 108 3 5 - 0 0 l l-Ac75 E, l-Ac11 E, l-Ac55 E, r-Ac79 A, r-Ac74 A, r-Ac23 A, r-Ac54 A, r-Ac10 A 13 1 A ~ -1 ~ -1 114 3 3 - 0 0 r l-Ac78 E, l-Ac47 E, l-Ac16 E, r-Ac77 A, r-Ac45 A, r-Ac14 A 28 1 A ~ -1 ~ -1 98 3 3 - 0 0 b lþAc86 E, l-Ac31 E, l-Ac61 E, rþAc84 A, r-Ac29 A, r-Ac59 A === Step = 50 Percepts = 1x-VD30 P H Lvl=1 #3=1x1-Wh9 A l #2=1x1-VD30 P H #1=1x1-Wh28 A b Lvl=2 #4=1x1-Ac78 E rI #3=1x1-Ac79 A Il #2=1x1-Ac75 E lH Percepts = 1x-VD85 P O Got UNEXPECTED: -VD85 P O 1-0/ Processing percepts at level 1 1-0a/ Pass 1 - Percept Processing 2 0 0 þAc86 E bO NEW # EObj Pattern - Fired Binon List 1 0 1 -VD85 P O This is the Perceived or Performed Binon * Practicing -Wh2 A - First response of first action device - Babbling OUTPUT response = - Lvl=1 #3=1x1-VD30 P H #2=1x1-Wh28 A b #1=1x1-VD85 P O #0=1x1-Wh2 A - Lvl=2 #4=1x1-Ac79 A Il #3=1x1-Ac75 E lH 1-0/ Processing percepts at level 1 1-0a/ Pass 2 - Action Processing 2 0 0 þAc87 A O- NEW # EObj Pattern - Fired Binon List 1 5 6 -Wh2 A - This is the Perceived or Performed Binon Percepts = 1x-VD85 P O Lvl=1 #3=1x1-Wh28 A b #2=1x1-VD85 P O #1=1x1-Wh2 A - Lvl=2 #4=1x1-Ac75 E lH